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Introduction
The objective of this lab is to get more experience with the physical turtlebot and with SLAM. I encourage you to work in teams.
Objectives
Upon successful completion of this lab, you will be able to:
- Build a map of an environment.
- Better explain the SLAM process.
Assignment
- Follow the tutorial instructions for building a map at http://wiki.ros.org/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM
- Save your map file
- Use your map, leveraging the instructions at http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map. Record a video that shows you can use rviz to make your robot go to a location on the map, showing that the robot can both localize and path plan.
- For extra credit, see if you can dig into some of the details of SLAM. For instance, can you have a running count of how many landmarks the robot sees? Can you show how many times loop closure is run?
Hand in
In Blackboard, please submit the following (one per group):
- A text file with:
- Your name
- The names of any people you worked with (optional)
- Links to the map and the video you recorded
- If you did the extra credit, explain what you did and provide a link to a video demoing it (if not done in the other video).
- The code you wrote for the assignment and any instructions needed to execute it.
Grading
- Basic text file content: 10
- Map generated correctly: 25
- Ability to localize and path plan in video: 25
- Extra credit: up to 20
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